Apparatus and method for setting speed of vehicle

Abstract

An apparatus for setting a speed of a vehicle is provided. The apparatus includes a first camera, a second camera, a navigation, and a processor. The processor detects inattention of a driver of the vehicle based on an operation for a steering device of the vehicle, an operation for a deceleration device of the vehicle, an operation for an acceleration device of the vehicle, or an image obtained by the first camera. The processor also obtains information associated with a lane of a road in which the vehicle is traveling and information associated with a surrounding vehicle based on an image obtained by the second camera, a heading angle of the vehicle, a speed of the vehicle, a yaw rate of the vehicle, a trajectory of the surrounding vehicle, or a curvature of the road, obtained by the navigation, and performs deceleration control.

What is claimed is: 
     
       1. An apparatus for setting a speed of a vehicle, comprising:
 a first camera disposed to capture an image of the inside of the vehicle; 
 a second camera disposed to capture an image of the outside of the vehicle; 
 a navigation; and 
 a processor configured to be electrically connected with the first camera, the second camera, and the navigation, 
 wherein the processor is configured to:
 detect inattention of a driver of the vehicle based on an operation for a steering device of the vehicle, an operation for a deceleration device of the vehicle, an operation for an acceleration device of the vehicle, or an image obtained by the first camera; 
 when the inattention of the driver is detected, obtain information associated with a lane of a road in which the vehicle is traveling and information associated with a surrounding vehicle of the vehicle based on an image obtained by the second camera, a heading angle of the vehicle, a speed of the vehicle, a yaw rate of the vehicle, a trajectory of the surrounding vehicle, or a curvature of the road, the curvature being obtained by the navigation; and 
 perform deceleration control based on the obtained information. 
 
 
     
     
       2. The apparatus of  claim 1 , wherein the processor is configured to:
 in response to determining that there is no driver operation of the steering device during a first time interval, no driver operation of the deceleration device or the acceleration device during a second time interval, and that the driver does not look in a forward direction of the vehicle based on an image captured by the first camera, detect the inattention of the driver. 
 
     
     
       3. The apparatus of  claim 1 , wherein the processor is configured to:
 after the inattention of the driver is detected, when the lane is detected, set a target speed of the deceleration control to a particular speed. 
 
     
     
       4. The apparatus of  claim 1 , wherein the processor is configured to:
 when the lane and the surrounding vehicle are not detected after the inattention of the driver is detected, perform the deceleration control based on a lane detected before the inattention of the driver is detected, a heading angle of the vehicle, a speed of the vehicle, a yaw rate of the vehicle, and a curvature of the road. 
 
     
     
       5. The apparatus of  claim 4 , wherein the processor is configured to:
 calculate an estimated time of departure from the detected lane, the heading angle of the vehicle, the speed of the vehicle, the yaw rate of the vehicle, and the curvature of the vehicle detected before the inattention of the driver is detected; and 
 perform the deceleration control based on the estimated time of departure. 
 
     
     
       6. The apparatus of  claim 4 , wherein the processor is configured to:
 set a target speed of the deceleration control based on the estimated time of departure and a predetermined parameter. 
 
     
     
       7. The apparatus of  claim 1 , wherein the processor is configured to:
 after the inattention of the driver is detected, when the lane is not detected and when the surrounding vehicle is recognized, compare a movement trajectory of the surrounding vehicle with a curvature of the road, the curvature being received from the navigation; and 
 perform the deceleration control based on the compared result. 
 
     
     
       8. The apparatus of  claim 7 , wherein the processor is configured to:
 calculate a Euclidean distance between the movement trajectory of the surrounding vehicle and the curvature of the road; and 
 perform the deceleration control based on the Euclidean distance. 
 
     
     
       9. The apparatus of  claim 7 , wherein the processor is configured to:
 set a target speed of the deceleration control based on a compared result between the movement trajectory of the surrounding vehicle and the curvature of the road and a predetermined parameter. 
 
     
     
       10. The apparatus of  claim 1 , wherein the processor is configured to:
 change a target speed of the deceleration control based on acceleration of a following vehicle of the vehicle. 
 
     
     
       11. The apparatus of  claim 1 , wherein the processor is configured to:
 change a target speed of the deceleration control based on a speed of a surrounding vehicle adjacent to a side of the vehicle. 
 
     
     
       12. The apparatus of  claim 1 , further comprising:
 a communication circuit configured to communicate with an external device, 
 wherein the processor is configured to automatically transmit an emergency notification using the communication circuit when the deceleration control is performed. 
 
     
     
       13. The apparatus of  claim 12 , wherein the processor is configured to:
 change a target speed of the deceleration control based on acceleration of a following vehicle of the vehicle or a speed of a surrounding vehicle adjacent to a side of the vehicle; and 
 determine whether to transmit the emergency notification based on a target speed before the change and the changed target speed. 
 
     
     
       14. A method for setting a speed of a vehicle, comprising:
 detecting, by a processor, inattention of a driver of the vehicle based on an operation for a steering device of the vehicle, an operation for a deceleration device of the vehicle, an operation for an acceleration device of the vehicle, or an image captured by a camera which captures an image of the inside of the vehicle; 
 when the inattention of the driver is detected, obtaining, by the processor, information associated with a lane of a road in which the vehicle is traveling and information associated with a surrounding vehicle of the vehicle based on an image obtained by a camera which captures an image of the outside of the vehicle, a heading angle of the vehicle, a speed of the vehicle, a yaw rate of the vehicle, a trajectory of the surrounding vehicle, or a curvature of the road; and 
 performing, by the processor, deceleration control based on the obtained information. 
 
     
     
       15. The method of  claim 14 , further comprising:
 detecting, by the processor, the inattention of the driver, in response to determining that there is no driver operation of the steering device during a first time interval, no driver operation of the deceleration device or the acceleration device during a second time interval, and that the driver does not look in a forward direction of the vehicle based on an image captured by the first camera. 
 
     
     
       16. The method of  claim 14 , further comprising:
 when the lane and the surrounding vehicle are not detected after the inattention of the driver is detected, performing, by the processor, the deceleration control based on a lane detected before the inattention of the driver is detected, a heading angle of the vehicle, a speed of the vehicle, a yaw rate of the vehicle, and a curvature of the road. 
 
     
     
       17. A non-transitory computer readable medium containing program instructions executed by a processor, the non-transitory computer readable medium comprising:
 program instructions that detect inattention of a driver of the vehicle based on an operation for a steering device of the vehicle, an operation for a deceleration device of the vehicle, an operation for an acceleration device of the vehicle, or an image captured by a camera which captures an image of the inside of the vehicle; 
 when the inattention of the driver is detected, program instructions that obtain information associated with a lane of a road in which the vehicle is traveling and information associated with a surrounding vehicle of the vehicle based on an image obtained by a camera which captures an image of the outside of the vehicle, a heading angle of the vehicle, a speed of the vehicle, a yaw rate of the vehicle, a trajectory of the surrounding vehicle, or a curvature of the road; and 
 program instructions that perform deceleration control based on the obtained information. 
 
     
     
       18. The non-transitory computer readable medium of  claim 17 , further comprising:
 program instructions that detect the inattention of the driver, in response to determining that there is no driver operation of the steering device during a first time interval, no driver operation of the deceleration device or the acceleration device during a second time interval, and that the driver does not look in a forward direction of the vehicle based on an image captured by the first camera. 
 
     
     
       19. The non-transitory computer readable medium of  claim 17 , further comprising:
 when the lane and the surrounding vehicle are not detected after the inattention of the driver is detected, program instructions that perform the deceleration control based on a lane detected before the inattention of the driver is detected, a heading angle of the vehicle, a speed of the vehicle, a yaw rate of the vehicle, and a curvature of the road.